After proper installation of the controller, we can configure it and run it. The first procedure is to create the configuration file of the controller that consists of the controller type, joint name, joint limits, and so on. The configuration file is saved as a YAML file that must be saved inside the package. We are creating a YAML file with the name of my_controller.yaml, and the definition is given as follows:
#File loaded during Gazebo startup my_controller_name: type: my_controller_ns/MyControllerClass joint_name: elbow_pitch_joint
This file is the configuration of the controller. In particular, this file contains the type of the controller represented by the name of the class compiled ...
